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International Conference on Informatics in Control, automation and robotics

作者： Julian Colorado Claudio Rossi Antonio Barrientos Diego Patino School of Engineering Pontificia Universidad Javeriana Centre for Automation and Robotics Universidad Politecnica de Madrid

ISBN: (纸本)9781479979202

Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by means of changing the wing shape during flight. There is evidence that the inertial forces produced by their wings during flapping have a key role in the attitude movements of the animal, i.e. aerial rotations. In fact, bats efficiently generate net body forces to manoeuvre by taking advantage of their large wing-to-body mass ratio. In this paper, the following question is formulated: Could a Micro Aerial Vehicle (MAV) inspired by the biomechanics of bats take advantage of the morphing-wings aimed at increasing net body forces? Using BaTboT, a novel bat-like MAV with highly articulated wings actuated by shape memory alloy actuators, our goal is to quantify the effects of different wing modulation patterns on the generation of net body forces. Experiments are carried out to confirm the important physical role that changing the wing shape enables: the contraction time of the wings (upstroke) should be faster than the extension time (downstroke), taking about 37.5% of the wingbeat period. This modulation pattern has enabled a lift force increment of 22% (from L = 0.92N to L = 1.12N), abrupt drag reduction (from D = 0.22N to D = 0.11N) and also an increase of net body forces (F_(net)) about 28% compared to those wing modulation patterns defined with equal periods for contraction/extension. These findings can be useful for accurate dynamics modelling and efficient design of flight controllers applied to morphing-wing micro aerial vehicles.

关键词： Bio-inspired MAV Shape Memory Alloy Actuators Bats

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Natural Human-Robot Interaction for Elderly and Disabled Healthcare Application

Natural Human-Robot Interaction for Elderly and Disabled Hea...

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IEEE International Conference on Bioinformatics and Biomedicine

作者： Qijie Zhao Dawei Tu Shuo Xu Hui Shao Qingxu Meng Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University

ISBN: (纸本)9781479956708

Natural human-robot interaction plays an important role in effective nursing services system provided by service robots for the elderly and disabled people. This paper proposed a multimodal "human-robot integration" collaboration system, and set up a shared collaboration interface between human and service robot. Consequently, Users and service robots can naturally communicate and retrieve information from the collaborative interface with multimodality (e.g. head gesture, eye gaze) in an interactive dialogue approach. By this way, making the service robots fully understand human's intention, so they can collaborate and complete tasks well. Furthermore, some experiments were conducted, and the results suggest that it is effective to identify user's intention in light of the advantage of different modalities, the shared collaboration interface can provide more information both from human and robots to improve the naturalness of human-machine collaboration. The proposed methods can provide a new way for exploiting human-service robots cooperation.

关键词： Human-Robot Interaction Healthcare System Service Robot Multimodality

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On planar grasping with snake robots: Form-closure with enveloping grasps

On planar grasping with snake robots: Form-closure with enve...

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IEEE International Conference on robotics and Biomimetics

作者： Fabian Reyes Shugen Ma Department of Robotics Ritsumeikan University Shiga Japan School of Engineering and Automation Tianjin University China

This paper describes the conditions that a snake robot must meet in order to be able to grasp an object with a circular cross-section. The type of grasp is of the enveloping type, and the conditions to guarantee a grasp with form-closure using three contacts, the minimum number of contacts possible, are presented. The first contribution of this paper is the description of the conditions where form-closure is possible, depending on the radius of the object. The second contribution is the description of two workspaces that help to decide whether the object is within reach of the snake robot, and if it is graspable. This analysis is scale and unit independent, therefore, it is applicable to a wide range of scenarios. These results can also be extended to other redundant open-chained robots using enveloping grasps.

关键词： Joints Robot kinematics Grasping Manipulators DH-HEMTs Biomimetics

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The influence of bat wings for producing efficient net body forces in bio-inspired flapping robots 11

The influence of bat wings for producing efficient net body ...

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11th International Conference on Informatics in Control, automation and robotics, ICINCO 2014

作者： Colorado, Julian Rossi, Claudio Barrientos, Antonio Patino, Diego School of Engineering Pontificia Universidad Javeriana Cr. 7 No. 40-62 Bogotá Colombia Centre for Automation and Robotics Universidad Politécnica de Madrid C/José Abascal 2 Madrid28006 Spain

ISBN: (纸本)9789897580406

Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by means of changing the wing shape during flight. There is evidence that the inertial forces produced by their wings during flapping have a key role in the attitude movements of the animal, i.e. aerial rotations. In fact, bats efficiently generate net body forces to manoeuvre by taking advantage of their large wing-to-body mass ratio. In this paper, the following question is formulated: Could a Micro Aerial Vehicle (MAV) inspired by the biomechanics of bats take advantage of the morphing-wings aimed at increasing net body forces? Using BaTboT, a novel bat-like MAV with highly articulated wings actuated by shape memory alloy actuators, our goal is to quantify the effects of different wing modulation patterns on the generation of net body forces. Experiments are carried out to confirm the important physical role that changing the wing shape enables: the contraction time of the wings (upstroke) should be faster than the extension time (downstroke), taking about 37.5% of the wingbeat period. This modulation pattern has enabled a lift force increment of 22% (from L = 0.92N to L = 1.12N), abrupt drag reduction (from D = 0.22N to D = 0.11N) and also an increase of net body forces (Fnet) about 28% compared to those wing modulation patterns defined with equal periods for contraction/extension. These findings can be useful for accurate dynamics modelling and efficient design of flight controllers applied to morphing-wing micro aerial vehicles.

关键词： Antennas

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Positioning control of an X-Y table based on practical NCTF control 12

Positioning control of an X-Y table based on practical NCTF ...

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12th International Conference on Motion and Vibration Control, MOVIC 2014

作者： Chong, Shin-Horng Hee, Wai-Keat Sato, Kaiji Centre of Excellence of Robotics and Automation Hang Tuah Jaya Durian Tunggal Malacca76100 Malaysia Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology 4259 Nagatsuta Midori-ku Yokohama226-8502 Japan

This paper describes a practical control method for high positioning performance of a XY table motion system. The controller with the characteristics of ease of design, adjustment and without plant identification are paramount important especially in industry, in order to achieve the end objectives of high positioning motion control. For this aim, a practical controller, namely nominal characteristic trajectory following (NCTF) controller has been studied to satisfy the desired performance. Two NCTF control systems have been designed and investigated to realize high performance and ease of application of point-to-point (PTP) positioning and tracking motions. The NCTF controller is comprehensive, comprising of nominal characteristic trajectory (NCT) and PI compensator, which is free from exact modeling and parameter identification. The NCT works as the reference motion of control system and is determined from experimental open-loop time responses of the mechanism. While, the PI compensator makes the motion of the controlled object to follow NCT and ends at origin. The controller parameters can be determined easily, without any given model parameters. In this paper, the experimental comparative performances of the conventional and Continuous Motion (CM) NCTF controllers have been proposed and validated for the XY table in positioning and tracking control performance. Only the result of the one-axis of the table is examined in this paper. Sufficient continuous motion control performances are presented with the CM NCTF controller as compared to the conventional one. © 2014 The Japan Society of Mechanical Engineers.

关键词： Controllers

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Influences of lug motion on lug-soil reaction forces in sandy soil

Influences of lug motion on lug-soil reaction forces in sand...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Ryohei Yamamoto Yang Yang Yi Sun Shugen Ma Department of Robotics Ritsumeikan University Shiga Japan School of Electrical Engineering and Automation Tianjin University China

Wheeled mobile robots working on sandy soil (e.g. planetary surface, desert, etc.) are commonly equipped with lugs (i.e. grousers) on wheels to improve travelling performance. It has been verified that presence of these lugs significantly affects on the traction performance of the locomotion mechanisms on soft terrains. However, the influences of movable lugs on traction performance are unclear, since the motion behavior of the conventional fixed lugs are interfered by wheel's motion. To quantitatively confirm the influences of lug's motion, we measured the soil reaction forces acting on a single actively actuated lug without wheel in various motion scenarios. Based on experimental results, we mathematically established relationships between the lug-soil interaction forces and parameters of lug's motion, such as inclination angle, moving velocity, and sinkage length of the lug.

关键词： Force Soil Wheels Joints Force measurement Steady-state Mobile robots

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Global adaptive control of a class of multi-input nonlinearly parameterized systems

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ICIC Express Letters 2014年第10期8卷 2787-2792页

作者： Ma, Ruicheng Liu, Yan He, Xu School of Mathematics Liaoning University No. 66 Chongshan Middle Road Huanggu District Shenyang 110036 China College of Information Science and Engineering Northeastern University No. 3-11 Wenhua Road Heping District Shenyang 110819 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

This paper will study global adaptive control for a class of multi-input non-linearly parameterized systems. The systems are assumed to be in interlaced form, which include a single-input nonlinearly parameterized systems as a special case. Our proposed adaptive controller is a switching-type controller, in which the gain parameter is tuned online via a switching scheme. In our proposed switching scheme, the switching time is finite and the gain parameter is eventually constant. An example is given to show the effectiveness of the proposed controller. © 2014 ICIC International.

关键词： Backstepping

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Influence of moving direction on normal force acting on a single lug during translational motion in sandy soil

Influence of moving direction on normal force acting on a si...

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IEEE International Conference on robotics and Biomimetics

作者： Yang Yang Yi Sun Ryohei Yamamoto Shugen Ma Department of Robotics Ritsumeikan University Shiga Japan School of Electrical Engineering and Automation Tianjin University China

ISBN: (纸本)9781479973989

To access loose sandy terrains, lugs (i.e., grousers) are attached on the surface of wheels/tracks to enhance the traveling performance of mobile robots. To clearly understand lug-soil interaction mechanism, an empirical model of normal force acting on lug during horizontal shearing motion has been established in our previous research. Moreover, it has been found that before this model can be extended to an arbitrary planar shearing motion of a lug, the effects of vertical motion on reaction forces should be studied as well. Inspirited by these founding, in this paper, experimental results from the vertical shearing motion of the lug were mathematically fitted to facilitate quantitative analyses on relationship between lug vertical motion and reaction force. It has been found that the reaction force demonstrates different characteristics in the two shearing motions. Then, by comparing the results measured from various moving directions with the empirical equations concluded from the two shearing motions, we confirmed how the two shearing motions contribute to the normal force acting on the lug that is translating at different moving direction angles.

关键词： Shearing Soil Force Mobile robots Force measurement Soil measurements

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Efficient point cloud collision detection and analysis in a tunnel environment using kinematic laser scanning and k-d tree search

Efficient point cloud collision detection and analysis in a ...

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ISPRS Technical Commission III Symposium 2014

作者： Schauer, Johannes Nüchter, Andreas School of Engineering and Science Automation Group Jacobs University of Bremen GGmbH Campus Ring 1 Bremen28759 Germany Informatics VII : Robotics and Telematics Julius-Maximilians-University Würzburg Am Hubland Würzburg97074 Germany

ISBN: (纸本)9781629935201

Measuring the structure gauge of tunnels and other narrow passages has so far been the only way to evaluate whether large vehicles can pass through them. But especially for very long vehicles like train wagons and their cargo, the structure gauge is an insufficient measure because the center part of the vehicle between two bogies will inevitably leave the swept volume of its cross section when moving along any other trajectory than a straight line perpendicular to its cross section. In addition, the vehicle as well as the cargo must keep a minimum safety margin from the environment at all points of its trajectory. This paper explores an automated method to check for possible collisions of a model represented by a 3D point cloud moving through the 3D point cloud of an environment. We were given environment data of a train track through a narrow tunnel where simply relying on the structure gauge would indicate that a given wagon would pass through without any collision even though in reality, the train wagon would collide with the inner tunnel wall inside a sharp turn of the tracks. The k-d tree based collision detection method presented in this paper is able to correctly highlight these collisions and indicate the penetration depth of each colliding point of the environment into the model of the train wagon. It can be generalized for any setup where two static point clouds have to be tested for intersection along a trajectory.

关键词： Trajectories

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Fault Tolerant Tracking Control for Quad-Rotor Helicopter via Robust Adaptive Technique

Fault Tolerant Tracking Control for Quad-Rotor Helicopter vi...

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第三十三届中国控制会议

作者： Kang-Kang Zhang Dan Ye Xin-Gang Zhao School of Information Science and Engineering Northeastern University State Key Laboratory of Robotics Shenyang Institute of Automation CAS

ISBN: (纸本)9781479947249

This paper presents a robust adaptive H∞strategy to solve the attitude of the quad-rotor helicopter control problems with actuator failures and external disturbances. The dynamic motion equations are obtained by the Euler formalism. Based on the linear time-invariant state-space equations of the quad-rotor, a state feedback robust adaptive H∞ tracking controller is proposed to track the given attitude angles with actuator faults. The controller gain consists of two parts: one part is the fixed gain which is obtained based on LMIs(linear Matrix inequalities), the other one is the time-varying gain which is adjusted on-line by the designed adaptive laws. Simulations based on a 3D Hover System of Quanser, are presented to verify the control strategy in the SIMULINK/MATLAB environment.

关键词： quad-rotor,attitude control,actuator failure,adaptive control,H∞ tracking control

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